Dual mode vehicle

Abstract

A mobile vehicle includes a platform, a pair of track assemblies and a pair of wheel assemblies. The pair of track assemblies is attached to opposing sides of the platform. The pair of wheel assemblies is attached to opposing sides of the platform. Each wheel assembly has at least a first and second wheel and a track-wheel interchange mechanism operably connected to the first and second wheel. The track-wheel interchange mechanism rotatably moves the first and second wheel from wheel mode wherein the wheels drive the mobile vehicle to a track mode wherein the track assemblies drive the mobile vehicle.

What is claimed is: 
     
       1. A mobile vehicle comprising:
 a platform having opposing sides and each side having a pair of spaced apart pulleys and each pulley having a shaft; 
 a pair of track assemblies attached to the pair of pulleys on the opposing sides of the platform; and 
 a pair of wheel assemblies attached to opposing sides of the platform and each wheel assembly having at least a first and second wheel and a parallel 4-bar mechanism connected to the shafts of the pair of pulleys and operably connected to the first and second wheel and the parallel 4-bar mechanism rotatably moves the first and second wheel from a wheel mode wherein the wheels drive the mobile vehicle to a track mode wherein the track assemblies drive the mobile vehicle. 
 
     
     
       2. The mobile vehicle as claimed in  claim 1  wherein the parallel 4-bar mechanism has a front and back intermediate mode wherein the track assemblies and the wheel assemblies work together to drive the mobile vehicle. 
     
     
       3. The mobile vehicle as claimed in  claim 1  wherein the first wheel is a drive wheel and the second wheel is a driven wheel and wherein the pair of pulleys is a drive pulley and a driven pulley and the drive pulley is operably connected the drive wheel and the driven pulley is operably attached to the driven wheel. 
     
     
       4. The mobile vehicle as claimed in  claim 1  wherein the parallel 4-bar mechanism includes a crank that is operably connected to a central shaft which is driven by a central shaft drive motor. 
     
     
       5. The mobile vehicle as claimed in  claim 4  wherein the central shaft drive motor is included in a central drive shaft module. 
     
     
       6. The mobile vehicle as claimed in  claim 4  wherein the parallel 4-bar mechanism further includes a drive follower and a driven follower and the drive follower is operably connected to a traction drive motor. 
     
     
       7. The mobile vehicle as claimed in  claim 6  wherein the parallel 4-bar mechanism further includes a first and a second chain-sprocket mechanism. 
     
     
       8. The mobile vehicle as claimed in  claim 7  wherein the at least first and second wheel include a drive wheel and a driven wheel and the first chain-sprocket mechanism operably connects the traction drive motor to the drive wheel and the second chain-sprocket mechanism connects the drive wheel to the driven wheel. 
     
     
       9. The mobile vehicle as claimed in  claim 6  wherein parallel 4-bar mechanism further includes a first and a second timing belt mechanism. 
     
     
       10. The mobile vehicle as claimed in  claim 9  wherein the at least first and second wheel include a drive wheel and driven wheel and the first timing belt mechanism operably connects the traction drive motor to the drive wheel and the second timing belt mechanism connects the drive wheel to the driven wheel. 
     
     
       11. The mobile vehicle as claimed in  claim 6  wherein the pair of pulleys include a drive pulley and a driven pulley and each track assembly includes a track positioned around the drive pulley and the driven pulley wherein the drive pulley is operably connected to the traction drive motor. 
     
     
       12. The mobile vehicle as claimed in  claim 11  wherein the traction drive motor is included in a traction drive module. 
     
     
       13. The mobile vehicle as claimed in  claim 1  further including a pair of traction drive modules, each traction drive module is operably connected to one of the pair of track assemblies and wheel assemblies, the pair of traction drive modules having a track drive mode and a wheel drive mode. 
     
     
       14. The mobile vehicle as claimed in  claim 13  wherein each traction drive module has one motor that is selectively connectable to one of the pair of track assemblies and one of the pair of wheel assemblies. 
     
     
       15. The mobile vehicle as claimed in  claim 1  wherein the pair of track assemblies and the pair of wheel assemblies form a pair of track-wheel driving modules attached to the opposing sides of the platform. 
     
     
       16. The mobile vehicle as claimed in  claim 1  wherein the pair of wheel assemblies rotates from the track mode to the wheel mode responsive to a remote control command. 
     
     
       17. The mobile vehicle as claimed in  claim 1  wherein the pair of wheel assemblies rotates from the track mode to the wheel mode autonomously. 
     
     
       18. The mobile vehicle as claimed in  claim 1  wherein the platform includes a head module, a core module and a power module that are removable and replaceable.